#include "motor.h"

struct  pid
{
	float kp;
	float ki;
	float kd;
	float current;
	float target;

  float p_out;
  float i_out;	
	float d_out;
	float i_out_max;
	float total_out_max;
	
};


float P_I_D(struct pid* my_pid);
void P_I_D_parameter(struct pid* my_pid,float current,float target,float kp,float ki,float kd);
void P_I_D_init(struct pid* my_pid);

